@article{zhao2017multi,
  title={Multi-contact bipedal robotic locomotion},
  author={Zhao, Huihua and Hereid, Ayonga and Ma, Wen-loong and Ames, Aaron D},
  journal={Robotica},
  volume={35},
  number={5},
  pages={1072--1106},
  year={2017},
  publisher={Cambridge University Press},
  url = {http://ames.caltech.edu/zhao2017multi.pdf},
  keywords = {Bipedal Robotics, Hybrid Zero Dynamics (HZD), Locomotion}
}

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